class DataCentral(object):
def __init__(self, boot_root=None):
boot_root = expand_environment(boot_root)
# Important, it can be deserialized from somewhere else
self.boot_root = boot_root
self.root = os.path.realpath(boot_root)
self.dir_structure = DirectoryStructure(self.root)
self.states_db = None
self.log_index = None
self.bo_config = None
def get_boot_root(self):
return self.root
def __repr__(self):
return 'DataCentral(root=%r)' % self.root
def get_bo_config(self):
if self.bo_config is None:
self.bo_config = get_boot_config()
dirs = self.dir_structure.get_config_directories()
for dirname in dirs:
if not os.path.exists(dirname):
msg = ('Warning, the config dir %r does not exist ' %
friendly_path(dirname))
logger.info(msg)
else:
GlobalConfig.global_load_dir(dirname)
# self.bo_config.load(dirname)
return self.bo_config
def get_log_index(self, ignore_cache=False):
if self.log_index is None:
self.log_index = LogIndex()
log_directories = self.dir_structure.get_log_directories()
for dirname in log_directories:
self.log_index.index(dirname, ignore_cache=ignore_cache)
return self.log_index
def get_agent_state_db(self):
if self.states_db is None:
state_db_dir = self.dir_structure.get_state_db_directory()
self.states_db = LearningStateDB(state_db_dir)
return self.states_db
def get_dir_structure(self):
return self.dir_structure
def rosbag2h5(pargs):
parser = OptionParser(usage=usage)
parser.disable_interspersed_args()
parser.add_option("-l", dest='log_directory',
default="~/.ros/log", # XXX: log
help="Log directory [%default].")
(options, args) = parser.parse_args(pargs)
if args:
msg = 'Spurious arguments.'
raise Exception(msg)
index = LogIndex()
index.index(options.log_directory)
logger.info('Found %s files.' % len(index.file2streams))
for filename, streams in index.file2streams.items():
if len(streams) != 1:
msg = ('Cannot deal with %d streams per file %r.' %
(len(streams), filename))
logger.error(msg)
continue
convert(streams[0])
def check_logs_writing(id_agent, agent, id_robot, robot):
try:
agent.init(robot.get_spec())
except UnsupportedSpec:
return
root = tempfile.mkdtemp()
ds = DirectoryStructure(root)
id_stream = unique_timestamp_string()
filename = ds.get_simlog_filename(id_agent, id_robot, id_stream)
written = []
written_extra = []
logs_format = LogsFormat.get_reader_for(filename)
with logs_format.write_stream(filename=filename,
id_stream=id_stream,
boot_spec=robot.get_spec()) as writer:
print run_simulation
for observations in run_simulation(id_robot=id_robot,
robot=robot,
id_agent=id_agent,
agent=agent,
max_observations=3, max_time=1000,
check_valid_values=True):
extra = {'random_number': np.random.randint(1)}
writer.push_observations(observations, extra)
written_extra.append(extra)
written.append(observations)
logdirs = ds.get_log_directories()
index = LogIndex()
for logdir in logdirs:
index.index(logdir)
# now use the cached version
index = LogIndex()
for logdir in logdirs:
index.index(logdir)
assert index.has_streams_for_robot(id_robot)
streams = index.get_streams_for_robot(id_robot)
assert len(streams) == 1
stream = streams[0]
assert isinstance(stream, BootStream)
assert stream.get_spec() == robot.get_spec()
read_back = []
read_back_extra = []
for observations2 in stream.read(read_extra=True):
read_back_extra.append(observations2['extra'])
read_back.append(observations2)
if len(read_back) != len(written):
raise Exception('Written %d, read back %d.' %
(len(written), len(read_back)))
for i in range(len(read_back)):
a = written[i]
b = read_back[i]
fields = set(a.dtype.names) or set(b.dtype.names)
fields.remove('extra')
for field in fields:
assert_equal(a[field], b[field])
for i in range(len(read_back)):
a = written_extra[i]
b = read_back_extra[i]
assert_equal(a, b)
shutil.rmtree(root)